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ji yu petri wang de ji qi ren zhuang pei zuo ye jian mo ji zhuang pei lu jing you hua fang fa de yan jiu
Pages: 48-54
Year: Issue:  3
Journal: Robot

Keyword:  PETRI netrobotic assemblyuncertaintyoptimal assembly trajectory;
Abstract: Based on discrete control of assembly process, an extended PETRI net is constructed to describe assembly process. According to the criterion of minimum number of transitions and maximum state stability, the algorithm for generating the optimal assembly state transition sequence is presented. The method is advantageous to the control of assembly state in the task level under uncertainties and lay a foundation for the research of on line intelligent robotic assembly strategy.
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